DE2801348A1 - WORKPIECE REMOVAL DEVICE WITH MULTI-JOINT ARM FOR CASTING MACHINES, IN PARTICULAR FOR INJECTION MOLDING MACHINES - Google Patents

Description

ITALL RKiöE ό · ρ.Α. company, Gapriano del Oolle (Brescia) Italy.

"Workpiece extraction device with multi-articulated arm for casting machines, especially for injection molding machines ".

The invention has a workpiece extractor with a hinged arm the subject, which is intended to the V ^ erstück (injection molded part) from casting machines of various types, in particular Injection molding machines to pull out.

It is well known that injection molding is used in injection molding machines in shaped a purpose-designed cavity, the

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by the union of two cavities of two injection molding tool halves arises, which move away from each other after the end of the injection molding process. The pulling out of the injection molded part is mostly done by manual intervention by the operator, for their personal safety there is only one screen that prevents the operator from placing his or her hand in the injection molding area, if the machine is not in the rest position with the injection mold halves properly pulled apart. In the last At that time, special mechanical pull-out devices with multi-articulated arms also found frequent use, which was preferred offer to exclude any danger to the operator and at the same time shorten the work cycle and the operational safety the machine to increase.

The object of the invention is to create a workpiece extractor for molding machines, especially injection molding machines, which have such properties of versatility in the Application offers that it practically replaces the human arm and in addition offers much more security, application of force and reliability offers.

Another object of the invention is to provide a workpiece extractor that is full and versatile Can be made independent, in order to carry out extraction processes for different types of machines, and, if required, also to transport the workpiece to perform from one machine to the other in a flow work cycle to produce a finished workpiece.

According to the invention, the above tasks are achieved by means of a pull-out

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Device solved, which is characterized in that it is to be attached to the fixed structure of the machine Connection plate, one horizontally on the connection plate in one parallel to the long side of the haschine seal sliding carriage and a slide from the ochlitten receding, multi-articulated arm comprises, which consists of a, via a first joint with a perpendicular axis of rotation with the first link rotatably connected to the carriage, from one, via a second joint with a perpendicular axis of rotation the second link rotatably connected to the first link, consisting of a first link with a horizontal to the direction of extension of the arm perpendicularly arranged axis of rotation with the second link rotatably connected third link, from a via a second joint with a horizontal axis of rotation arranged parallel to the direction of projection, rotatable with the third link connected fourth link and consists of a pair of pliers, which is attached to the fourth link so that their legs -between an open and a closed position around their own horizontal, parallel to the direction of extension of the arm Can pivot arranged axis, with individual oteuer- or drive means for the movements of the pliers, the arm limbs and the carriage are provided opposite to each other and the fixed connecting plate.

In other words, the extraction device according to the invention is characterized by the fact that it has a whole series of pushing and rotating movements around several vertically and horizontally arranged Axes are able to perform, so that they are thereby in the

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Is able to work with roughly the same versatility and adaptability as the human arm; with this it has an essentially similar structure in common, of course with higher strength and ßewegungsgenauigkeit. The operator is thus spared the risk of introducing the fiands into the opening area of the injection molding tool in order to remove the injection molding ax by hand, which decisively increases work safety. The large number of movements that the extraction device according to the invention can carry out also makes it suitable for use - instead of with one machine - with a large number of different types of machines in which different interventions are required. It can be thought of the use of the puller according to the invention to "workpieces by a working machine for transporting other, eg from a injection molding to a post-processing machine. It also suggests that a dedicated corresponding electronic control unit, using appropriate J ¹ UhIgUeder eg with cams and microswitches, can be used to automate the entire operating cycle of the extractor in various ways.

The features of the invention emerge from the following detailed description of one of its practical embodiments more clearly based on the attached drawing. It shows:

1 shows a schematic view of the pull-out device according to the invention,

Mg. 2 is a likewise schematic plan view of the same

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Extractor,

5 is a view with partial sections on an enlarged scale of construction details of the connecting plate and the ochlitüens, which are part of the Extractor according to FIGS. 1 and 2 include,

iig. Figure 4 is a top plan view of the connecting plate and carriage in the same Γ scale as in Fig. 3 »

iig. 5a and 5b, which along the dash-dotted line A-A to one another followed by a side view in enlarged scale and with partial sections of the construction details of the articulated arm of the extractor According to j? i &. 1 and 2,

Fig. 6a and 6b, which along the otrichpunktlinie B_B to each other connect, a top view of the multi-articulated arm with reil sections,

Fig. 7 is a longitudinal section through the hassstab in enlarged Drawn joint with a vertical axis of rotation, which attached a first link of the arm and one on the slide Connecting flange to each other,

FIG. 8 shows a cross section along line VIII - VIII of FIG. 7 through the same joint,

9 shows a cross section along the line IX - IX of FIG. 7 through the same joint,

10 and 11 each show a view of the pull-out device according to the invention, for example on an injection molding machine

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machine is attached during two initial stages of the workflow,

12 and 15 show a plan view of the same pull-out device during the same work stages,

U ¹ Xg. 14 shows a cross section along line XIV - aIV of FIG. 15 through the same extraction device during a further work stage,

j? i &. 15 is a plan view of the pull-out device according to the invention during the same work stage as Fig. 14-,

16 to 18 are schematic representations of the pull-out device during successive work stages in Pulling an injection molded part out of an injection molding machine,

19 to 21 are plan views of the same extractor during the same working stages as in FIGS. 16 to

As shown schematically in FIGS. 1 and 2, the pull-out device according to the invention essentially comprises a connecting plate 1, which is to be attached to the fixed frame of the machine in question with appropriate smocks, one horizontally on the connecting plate 1 sliding carriage and a folding arm 3? the one on slide 2 via a support flange 4 is receding attached. In addition, the multi-articulated arm 3 mainly comprises a first link 5 'over a first joint of vertical axis of rotation 6 is pivotally connected to the support flange 4, a second link 7 »via a second joint of vertical axis of rotation 8 with the first link 5

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is pivotally connected, a third link 9 »via a first joint horizontal axis of rotation 10 (which horizontal axis of rotation is perpendicular to the direction of extension of the rlehrverbindarmes 3 is) pivotally connected to the link 7, a fourth link 11, which is horizontal via a second joint Axis of rotation 12 (which horizontal axis of rotation coincides with the longitudinal axis of links 9 and 11) can be pivoted with link 9 is connected and finally a pair of pliers 15, the ochenfcel are hinged at 14 on the link 11 so that they are simultaneously in Open or closed position of the tongs 13 apart or to each other can be swiveled. Individual i-means with oleohydraulic operation (description below) are also used to control the drive of the carriage 2 and the individual Components of the multi-joint arm 3 are provided.

The fixed connecting plate 1 and the one that is slidable on this Sled 2 will be in the year. 3 and 4- in their details shown, wherein the connecting plate 1 consists essentially of a plate 15 »for attachment to the relevant faschine (especially on the fixed injection mold support plate an injection molding machine) is determined, and consists of two side walls 16, 17, between which the fixed piston rod 18 of a piston 19 is arranged and anchored, which in a displaceable, oil-hydraulic Seated cylinder 20, with which the carriage 2 is firmly connected; this moves the carriage 2 from one to the other Side of the connecting plate 1 moved by taking part in the movements that the cylinder 20 from the fixed KoI-

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ben 19 are transferred. Apart from the rlolbenstange 13, the displacement of the carriage 2 from a ^i-: otangen aar out 21, which comprises of, jedo a hollow portion 22 which is surrounded by a sleeve attached to the carriage 2 23rd Between each hollow section 22 and the corresponding sleeve 23 there is a tubular cavity 24 (Pig. 3) which is provided via radial bores 25; the cavity 26 is connected inside the hollow section 22, which cavity 26 in turn communicates via an orifice 27 with the outside air and via an externally arranged nozzle 28 with the interior of a distribution group 29, which consists of a plurality of solenoid valves that control the oil hydraulic Control the medium for the movements of the wrist arm 3. The distribution group 29 is not described in detail at this point, since its construction is customary and known per se in such controls; suffice it to say that v / hen the two dogs 2? are connected to the fcediumquelle or with the drain, the distribution group receives pressure oil from the first via the section formed by cavity 26, .tiadialbohrungen 25, tubular space 28 and distributes this to the drive means, each either by hand control or by a electrical control device can be selected with coordinated stimulation of the solenoid valves, of which it consists, and it finally promotes via the other dog 27 and the subsequent I'lowing section to the drain.

The carriage 2 is provided with a flange 30 (J? Ig. 4) on which the flange 31 of the 'supporting flange 4 of the Hehrverbindarnes

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is releasably attached. Figures 5a and 6a, together with Figures 7-8 9 and 9 show the nature and manner of the first joint of the vertical axis of rotation 6, which is the first link the joint arm 3 with the support flange 4-pivotally connects. As the figures show, the joint 6 consists essentially of a pin 32 which is attached to the adjacent end of the link 5 attached and in one at the corresponding end of the support flange 4- recessed bore 33 is rotatably mounted. The movement (which causes the pivoting of the link 5 opposite to the supporting flange 4-) by a double-acting Pressure oil cylinder 34 iFig. 1, 2 6a and 7) transferred at which the cylinder part 55 attached to the support flange 4- and with the Distribution group 29 is connected via channels 36, while the piston 37 is provided with a rack 38, which with a pinion 39 placed on the pin 32 in engagement stands (Fig. 5a, 6a and 7) ·

The pin 32 is also arranged with a plurality one above the other Annular grooves 4-0 (Fig. 7) provided, each of which fulfills the task, an associated one of the distribution group 29 coming pressure oil line 4-2 with a corresponding one of a plurality of axially directed ones distributed at a distance on the circumference Connect channels 4-1 (Fig. 3), each of which is secured by a blade 4-3 (Fig.

so

9) is continued through in the radial direction until it connects to an associated pressure oil line 44, which the latter in turn with the drive means for the links of the universal joint arm 3 downstream of the joint 6 in

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Connection is above the same pin 32 is thus one hydraulic connection between mutually opposite rotatable parts such as Iragflansch 4 and member 5 made possible.

Finally, in the area of the joint 6 (FIG. 5a) there is a sentence micro switch 45 and curves 46 (longitudinally curved guides 47 displaceable) is provided, which makes it possible to obtain electrical signals indicating the angular position of the link 5, to start the solenoid valves of the distribution group 29 and thus to automate the entire operation of the extractor (of course via a suitable electrical control device).

As in J? Ig. 5a and 6a, that is between the links 5 and 7 located joint 8 built exactly the same as the joint 6 just described, except for the smaller number of inlet and outlet return oil lines. Hence the joint 8 not described in detail; Suffice it to say that the train numbers 48-51, 52-56 and 57-61 are parts of the joint 8 denote the already described parts 52-35 » 37-41 and 43-47 of the joint 6 are quite similar.

Also the joint 10 shown in Fig. 5b and 6b, which the limbs 7 and 9 interconnecting is substantially similar to the previous ones; the only major difference - in addition to the even smaller number of incoming and outgoing pressure oil lines - is that their axis of rotation is lying instead of standing as with joint 6 and 8, is arranged. A detailed description is therefore also required for joint 10 omitted, whereby it should be mentioned that the reference number no

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- rr -

62-7'5 mark similar healing of the joint 1C, which the Parts 46-61 of the joint 8 correspond.

Finally, there is another joint on the horizontal axis 12, which is perpendicular to the joint 1U, as shown in FIGS connected and is pivotably mounted in a recess in the link 9 bore 77. Me rotation of the pin 76 » which brings a corresponding .Schwenken the member 11 relative to the member 9, worried a double-acting Druckb'lzylinder 78, in which the actual cylinder 79 is attached to the link 9 and with two of the four from the first horizontal Joint 10 outgoing pressure oil lines 72 hydraulically is connected, while the piston 80 is provided with a rack 81, which is placed on the pin 76 with a Pinion 82 meshes.

The pin 76 is able to be in the link 9 as well as in the link 11 to move axially, which he causes by a piston 83 can be, which is hydraulically connected in one with the two further pressure oil lines 72 going out from the joint 10, cylindrical chamber 84- is slidably installed. This axial movement is brought about by two integrally formed on the pin 76 Racks 85 and two attached to the pivot 14 Tooth sectors 89 the 3chwenken the, legs of the pliers 13 around the axis of the pivot pin 14 from the open to the closed position of the pliers 13 and vice versa, which open position is limited adjustable by a head screw 86, the through the pliers carrier 87 of the pliers 13 (Fig. 5t>) freely

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goes through and screwed into two bolts 38 adjustable which one in the corresponding holes of the pliers carrier 8? are arranged freely rotatable «The greater the screw depth the head very hood 86, the smaller the opening angle the pliers 13 and vice versa.

lira the mode of operation of the inventive pull-out device, which is shown in Fig. 1 to 9, oesaer to be able to explain, is in the x? olge on a possible application of the same E.g. in the case of an injection molding machine, its structure according to FIGS. 10 to 21 basically from a foascain bed 90, an immovable clamping table 91 for the stationary one injection mold half 92, a movable clamping table 93 for the movable injection mold half 9 ^ and from four lying, parallel to each other, arranged otäben 95, which latter serve as a guide for the movable clamping table 93 during its movements to the fixed clamping table 91 or away from it, for the injection molding of a (in Fig. 15 to 21 generally designated 96) Opritzgußteiles or for pulling it out of the injection molding machine.

In FIG. 1 ois 21 the pulling device with its connecting plate 1 is attached to the fixed clamping table 91 of the injection molding machine; it is assumed, for example, that the pulling device is in its starting position when it is in the state shown in FIGS. Starting from this position, a certain sequence of movements is provided, either by the operator

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with individual switching games or in serial, automatic Operation by switching on the various micro-switches 45, 59 and 73 as well as other limit stops and more appropriate .Circuits and / or program commands entered in a control device are triggered. ; -Js will underlined that this sequence of movements depends on the type of machine on which the invention Extractor is connected, and, in any case, largely changed by the performance expected of the extractor can be.

When the extraction device is in the starting or waiting position according to FIG. 10 or 12 after the injection molding process has ended and the movable clamping table 93 has been separated and removed from the stationary clamping table 91, the extraction process of the injection molded part is initiated by actuating the pressure oil cylinder 64 , which rotates the pin 62 via distribution strupp e 29 and JJrucköllinien 42, 44 and 58 and thus pivots the link 9 upwards about the horizontal axis of rotation of the joint 10 to the almost horizontal position of the link 9 according to FIGS. 11 and 13. Via the pressure oil drive cylinder 34 and *? Ü , first the vertical joint 6 alone and then both vertical joints 6 and 8 are actuated simultaneously in order to carry out the pivoting of the members 5 and 7, so that the pliers 13 with the legs still spread apart and one above the other is inserted into the Haul of the pulled apart injection mold halves 92, 94, whereupon the pressure oil cylinder 20 (ü'ig. 3) the horizontal displacement of the carriage 2 for a correct

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is

lateral positioning of the pliers 13 relative to the two injection mold halves (FIGS. 14 and 15) is made. The push-out mechanism of the injection molding machine takes care of the demolding of the injection molding part 96 from the injection mold half to which it is still adhering and pushes it into the open tongs 13, the legs of which are (automatically or by manual switching play) around the injection molding part (years 14- and 15 ) close by the arches 83, xvelcher displaces the pin 76 longitudinally and pivots the legs of the pliers 13 about the associated pivot pin 14 via the racks 63 and the tooth sectors 89. Now the return begins, in which above all the vertical joints 6 and 8 are operated in the opposite direction in order to remove the pliers 13 and thus the injection-molded part from the mold area and to swivel them over a container 97 filled with cooling water for the injection-molded part ( 16 and 19) · the horizontal joint 10 is set in action via the pressure oil cylinder 64 in order to lower the link 9 so far that the injection-molded part 96 is immersed in the cooling water contained in the container 97 (FIGS. 17 and 20). After the cooling process, which can also fail in some cases, has ended, the horizontal joint 10 is actuated in a retrograde direction in order to bring the member 9 back into the position shown in FIG , whereupon the vertical joint 8 is actuated to pivot the links 7, 9 and 11 outwards, the horizontal joint 12 is actuated by the pressure oil cylinder 78 to pivot the link 11 by 90 ° and thereby the pliers 13 in a lateral position to bring the

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before pliers 13 is finally opened by the piston 83, so that the injection-molded part is located in an underneath
Bin 98 is dropped (Figs. 18 and 21).

As already mentioned, various sequence of events in connection with the desired use of the invention Extraction device must be provided.

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Claims (1)

--46.- PAiPENOiAKSPR U GH Workpiece extraction device for casting machines, in particular for injection molding machines, characterized in, that they have a connecting plate to be attached to the fixed structure of the machine, a slide that can be moved horizontally on the connecting plate in a sighting parallel to the longitudinal side of the machine and a fleeing from the sled, comprises multi-articulated arm, which is rotatable with the carriage via a first joint with a perpendicular axis of rotation connected first link, from a, via a second joint with a perpendicular axis of rotation with the first link rotatably connected second link, consisting of a horizontal joint arranged perpendicular to the direction of extension of the arm via a first joint Axis of rotation with the second link rotatably connected to the third link, from a via a second joint with horizontal axis of rotation, arranged parallel to the direction of projection, with the third link rotatably connected to the fourth Member and consists of a pair of pliers, which is attached to the fourth member so that their legs are between an open and a closed position about its own horizontal position parallel to the direction of extension of the arm Let the axis pivot, with individual control or drive means for the movements of the pliers, the arm limbs and the carriage are provided opposite each other and the fixed connecting plate.